A 58-year-old bicyclist who was injured Sunday when his bike and a car collided after the Spirit of Shrewsbury parade was released from the hospital Monday.

David Roy of Shrewsbury had been taken to UMass Memorial Medical Center — University Campus in Worcester after the 2:20 p.m. collision at Main Street and Main Circle.

Police said a Honda sport utility vehicle was headed west on Main Street, turning left onto Main Circle, when it collided with the bicycle. The bicycle, headed east on Main Street, struck the car on the passenger-side front corner. The bicyclist landed on the car's windshield, smashing it, a witness said.

Police said the driver of the 2010 Honda CRV was Suresh Srinivasan, 47, of Shrewsbury.